Robotic servicing multifunctional tool

ABSTRACT

Herein is disclosed a multifunctional tool with replaceable tool tips. The disclosed multifunctional tool may be used as an end-effector on a robotic arm in space. Each tool tip, when in the tool holder, is driven by a common motor. The same motor can also be used to control the orientation of the tool tip about an axis. The tool tips are replaceable in the tool holder by simple and robust means, resulting in a lighter and cheaper multifunctional tool. The tool tips can be variously adapted to perform a variety of functions, including cutting, grasping, drilling, driving, etc. Since the tool may be driven by only one actuator, and the single actuator may be used to drive both the tool and rotation of the tool, mass can be saved. Use of such a multifunctional tool also reduces overall system power requirements, and system complexity.

CROSS REFERENCE TO RELATED U.S. PATENT APPLICATION

This patent application is a divisional application of U.S.non-provisional patent application Ser. No. 13/652,339, filed Oct. 15,2012, and which has issued as U.S. Pat. No. 9,676,096, on June 13, 017,and which is based on U.S. provisional patent application Ser. No.61/546,770, filed on Oct. 13, 2011, entitled ROBOTIC SERVICINGMULTIFUNCTIONAL TOOL, filed in English, all of which are incorporatedherein in their entirety by reference.

FIELD OF THE INVENTION

The present disclosure relates to a multifunctional tool withreplaceable tool tips. The disclosed multifunctional tool may be used asan end-effector on a robotic arm in space.

BACKGROUND

Robotic tools for space manipulators fall into one of two categories: 1)tools that are used to operate upon prepared interfaces (i.e. hardwarethat was designed together with the tools themselves, to facilitate theexecution of robotic operations), and 2) tools that are used to operateupon unprepared interfaces (i.e. hardware that was not specificallydesigned to accommodate robotic operations, and that may be designed insuch a way that make robotic operations very difficult).

The Special Purpose Dextrous Manipulator, or Dextre, provided to theInternational Space Station (ISS) by the Canadian Space Agency (CSA), isequipped with tools targeted to prepared interfaces. Dextre's tools aredescribed at the following link:http://www.asc-csa.gc.ca/eng/iss/dextre/toolbox.asp. They are describedin greater detail below.

a) Socket Extension Tool (SET). Dextre grips this tool with itsend-effector, and uses it to extend the reach of the end-effector'ssocket driver mechanism. It can actuate 7/16″ bare bolts. This type ofbolt is a standard size used for tie-down interfaces on the ISS. The SETincorporates a wobble socket, which provides the necessary compliancefor robotically interfacing to a tie-down bolt with no co-located visualtarget. This tool was designed by MDA.

b) Robot Micro Conical Tool (RMCT). Dextre's end-effector was designedto directly interface with Micro-Fixtures and H-Fixture (robotic graspfeatures with a square/rectangular profile). Another fixture commonlyused on the ISS is the Micro Conical Fitting (MCF) which, althoughdesigned to be robotically compatible with a collocated visual target,possesses round profiles and therefore is not directly compatible withDextre's end-effector jaws. The RMCT is a tool equipped with amicro-fixture that allows Dextre to grasp it. The RMCT then allowsDextre to pick up payloads that are equipped with an MCF. This tool wasdesigned by Oceaneering Space Systems.

c) Robotic Offset Tool. Dextre grips this tool with its end-effector,and uses it to access secondary tie-down bolts on specific stationpayloads (Orbit Replaceable Units or ORUs) where clearance constraintswith adjacent equipment prevents Dextre's end-effector from being ableto engage its socket drive directly to the tie down bolt. The tool givesDextre access to tie-down points that it would be unable to accessotherwise. The tool is designed for compatibility with Dextre, and withspecific ISS payloads. This tool was designed by Boeing.

In addition to tools designed for ISS payloads, the Hubble RoboticServicing Mission (http://www.edcheung.com/job/hrsdm/hrsdm.htm) exploredthe development of Dextre compatible tools that could be used to servicehardware that had been launched on the Hubble Space Telescope. TheHubble Space Telescope was designed for servicing by astronauts—it isnot equipped with features to facilitate robotic servicing, such asgrapple fixtures, visual cues, or a physical equipment layout thatprovides a generous robotic workspace envelope. A ground testbed versionof Dextre was installed at Goddard Space Flight Center, anddemonstrations of tool concept prototypes were performed on a full scalemockup of the Hubble telescope. Robotic tools developed for theseunprepared interfaces included electrical connector tools and tools thatwere used to access and actuate door latch fasteners. Hubble interfacedesigns made no accommodations for robotic operations—special tools hadto be designed for these unprepared interfaces that allowed operators toperform operations remotely and reliably.

The Hubble Servicing Mission was eventually cancelled, but thedevelopment of tools for unprepared interfaces continued both at GoddardSpace Flight Center and at MDA/CSA.

Other prepared, robotically compatible tool interfaces have beendeveloped by the European Space Agency (ESA). The Compact Tool ExchangeDevice (CTED) is designed for Eurobot, a three arm robot concept that isbeing developed to perform extravehicular activities (EVA) on the ISS. Adescription of this interface can be found at the following link andpaper: http://www.esa.int/TEC/Robotics/SEMRIQNSP3F_0.html, A novelconcept for a tool exchange device, Kester, G. J. A. N.; Visser,Proceedings of the 11th European Space Mechanisms and TribologySymposium, ESMATS 2005, 21-23 Sep. 2005, Lucerne, Switzerland). CTEDwill enable the exchange of end effectors or tools, while allowingcontrol signals and electrical power to pass from the arm to the tool.It consists of two types of components, one active unit, fixed to therobot arm, and several passive parts, fixed to the different tools andend effectors. Once the tool is positioned within reach of the arm, CTEDis intended to automatically perform the attachment and release of thetool and the mating and de-mating of its electrical connectors. CTEDprovides alignment features that help guide the robot arm into thecorrect position and orientation for latching.

NASA has proposed a Robotic Refueling Mission (RRM) which is an externalInternational Space Station experiment which is designed to demonstrateand test tools and methodologies required to refuel satellites in space,see Nasa Facts, article entitled “Robotic Refueling Mission”(FS-2011-3-11-GSFC (rev June 25)) (www.nasagov). This publication refersto tools to be tested including a Wire Cutter tool, Blanket ManipulationTool, Multifunction Tool, the Safety Cap Removal Tool, and the NozzleTool. More details of these tools can be found athttp://www.nasaspaceflight.com/2011/07/sts-135-enabling-new-era-robotic-satellite-refuelling-space/

Examining all of the existing robotic designs for handling multipletypes of tools, a common feature is the use of a general roboticend-effector or hand which is capable of holding a tool which has itsown source of motive power to apply force or torque. This is illustratedby the OTCM and CTED above. They are capable of grasping the tool andpassing power to the motor(s) which provide actuation within the tool.However this means that for each tool held by the end-effector, it mustpossess its own single or multiple actuator. If the servicing missionrequires a large number of powered tools, this will result in a largenumber of actuators being required in the overall robotic system to becapable of performing a variety of servicing functions. Generally,actuators are also required for grasping different tools and foradjusting the orientation of these tools.

Actuators add mass and complexity to the robotic device, and reducerobustness. Each additional actuator requires power, and necessitatesthe inclusion of redundancy schemes. As such, each additional actuatoradded to an end-effector increases the mass of that end-effector, anddue to the need for more power and redundancy schemes, the mass increaseis generally larger than the mass of the actuator itself. Additionalmass added to the robot decreases the payload capacity of the robot, andin the case of space robotics, increases the cost of the overallmission.

SUMMARY

The present disclosure relates to a multifunctional tool withreplaceable tool tips. The disclosed multifunctional tool may be used asan end-effector on a robotic arm in space. Each passive tool tip, whenin the tool holder, is driven by a common actuator/motor. The sameactuator/motor can also be used to control the orientation of the tooltip about an axis. The tool tips are replaceable in the tool holder bysimple and robust means, resulting in a lighter and cheapermultifunctional tool. The tool tips can be variously adapted to performa variety of functions, including cutting, grasping, drilling, driving,etc. Since the tool may be driven by only one actuator, and the singleactuator may be used to drive both the tool and rotation of the tool,mass can be saved. Use of such a multifunctional tool also reducesoverall system power requirements, and system complexity.

Thus, herein is disclosed a multifunctional tool comprising

i) a tool tip, said tool tip comprising

a) a tool tip stator, and

b) a tool tip rotor rotatable about a first axis relative to said tooltip stator; and

ii) a tool holder capable of removably engaging said tool tip, said toolholder comprising

a) a collet,

b) a tool tip locker, and

c) a motive source;

wherein when said tool holder engages said tool tip,

i) said tool tip locker restricts rotational and axial movement aboutsaid first axis of said tool tip stator relative to said collet, and

ii) said motive source is capable of rotating said tool tip rotor aboutsaid first axis relative to said tool tip stator.

Herein is further disclosed a method of performing an action using amultifunctional tool comprising the steps of

inserting a tool tip into a tool holder;

locking a tool tip stator of said tool tip to a collet of said toolholder;

coupling a tool tip rotor of said tool tip to a motive source of saidtool holder;

engaging a selector to enable said motive source of said tool holder torotate said collet about a first axis;

rotating, if needed, said collet locked to said tool tip stator aboutsaid first axis using said motive source;

disengaging said selector to enable said motive source to actuate saidtool tip;

and

actuating said tool tip using said motive source to perform said action.

Herein is further disclosed a system for remote robotic servicing,comprising:

a) a vision system

b) a robotic arm having an end-effector;

c) a multifunction tool configured to be releasably grasped by saidend-effector,

d) a suite of tool tips, said multifunction tool configured toreleasably grasp each of said tool tips, said multifunction toolincluding a motive source configured to activate said tool tip when themotive source is activated; and

e) a computer control system programmed to control movement of saidrobotic arm and said motive source of said multifunction tool;

f) a communication system configured to allow remote operation of saidvision system, said robotic arm and said multifunction tool.

Also, there is provided a method for remote robotic servicing,comprising:

a) launching a servicing spacecraft into an orbit to bring it into closeproximity to a client satellite to be serviced, the spacecraftcomprising

-   -   propulsion, guidance and telemetry systems,    -   a satellite capture mechanism configured to releasably capture        the client satellite servicing satellite,    -   a robotic arm having an end-effector,    -   a multifunction tool configured to be releasably grasped by said        end-effector,    -   a suite of tool tips, said multifunction tool configured to        releasably grasp each of said tool tips, said multifunction tool        including a motive source configured to activate said tool tip        when the motive source is activated,    -   a vision system configured to have a field of view containing        the portion of the client satellite being releasably captured        and the end-effector and at least a portion of the client        satellite being serviced by the multifunction tool,    -   a computer control system programmed to control movement of said        robotic arm and said motive source of said multifunction tool,        and    -   a communication system configured to allow remote operation of        said vision system, said robotic arm and said multifunction        tool;

b) maneuvering the satellite into location in close proximity to theclient satellite, deploying the satellite capture mechanism andreleasably capturing the client satellite;

c) deploying the robotic arm and instructing the end-effector toreleasably grasp the multifunction tool, instructing the end-effectorcontaining the multifunction tool to releasably engage a tool tip withthe multifunction tool,

d) engaging that portion of the client satellite to be serviced with themultifunction tool to service the client satellite; and

e) wherein said communication system is configured to communicate withsaid computer control system for remote teleoperation control or amixture of teleoperator and supervised autonomy control of

-   -   approach to, and capturing of, the client satellite, and    -   all actions associated with servicing the client satellite using        the robotically controlled multifunction tool.

A further understanding of the functional and advantageous aspects ofthe disclosure can be realized by reference to the following detaileddescription and drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments will now be described, by way of example only, withreference to the drawings, in which:

FIG. 1 shows an elevation view of a longitudinal cross-section of amultifunctional tool, showing a tool tip in a tool holder.

FIG. 1a is a side view of the multifunction tool of FIG. 1.

FIG. 1b is a top view of the multifunction tool of FIG. 1.

FIG. 1b is a top view of the multifunction tool of FIG. 1.

FIG. 1c is an end view of the multifunction tool of FIG. 1.

FIG. 1d is a cross section along the line 1 d-1 d of FIG. 1 c.

FIG. 1e is an exploded view of the multifunction tool of FIG. 1.

FIG. 2 shows an elevation view of a longitudinal cross-section of amultifunctional tool, showing a tool holder without a tool tip.

FIG. 3 shows an elevation view of a longitudinal cross-section of a tooltip for a multifunctional tool adapted to cutting wires.

FIG. 4 shows an elevation view of a longitudinal cross-section of a tooltip for a multifunctional tool adapted to grasping thermal blankets.

FIG. 5 shows an elevation view of a partial cutaway of a tiltermechanism forming part of the multifunction tool.

FIG. 6 shows an isometric view of a tool holder of the multifunctionaltool.

FIG. 7 shows a front view of the multifunctional tool assembled withvideo cameras and an electromechanical interface to a robotic arm.

FIG. 7a shows a partial exploded view of the assembly of FIG. 7 absentthe video cameras on the left hand side of the FIG. 7 a.

FIG. 7b shows an exploded view of the grapple fixture mechanism andcomponents for clamping the grapple fixture mechanism to themultifunction tool.

FIGS. 7c and 7d shows an exploded view of part of a tilter mechanismforming part of the multifunction tool.

FIG. 8 shows an isometric view of a disassembly of a tilter mechanismforming part of the multifunctional tool.

FIG. 9 shows a front view of a tool clip for holding a tool tip.

FIG. 10 shows a side view of a tool clip for holding a tool tip.

FIG. 11 shows an isometric view of a tool tip for a multifunctional toolconfigured to include a hex socket, and a clamp to locally react torquesproduced by the action of the hex socket.

FIG. 12 shows an elevation view of a longitudinal cross-section of atool tip for a multifunctional tool configured to include a hex keydriver capable of rotation and translation.

FIG. 13 shows an alternative embodiment of the tool clip for holding atool tip.

FIG. 14 shows a sketch of the multifunctional tool attached to a roboticarm. Also shown is a vision system to monitor the movements andactivities of the multifunctional tool. The robotic arm is attached to aspacecraft that is in communication with the Earth.

FIG. 15 shows an exemplary, non-limiting computer control system formingpart of the system disclosed herein.

DETAILED DESCRIPTION

Various embodiments and aspects of the disclosure will be described withreference to details discussed below. The following description anddrawings are illustrative of the disclosure and are not to be construedas limiting the disclosure. Numerous specific details are described toprovide a thorough understanding of various embodiments of the presentdisclosure. However, in certain instances, well-known or conventionaldetails are not described in order to provide a concise discussion ofembodiments of the present disclosure.

As used herein, the terms, “comprises” and “comprising” are to beconstrued as being inclusive and open ended, and not exclusive.Specifically, when used in this specification including claims, theterms, “comprises” and “comprising” and variations thereof mean thespecified features, steps or components are included. These terms arenot to be interpreted to exclude the presence of other features, stepsor components.

As used herein, the term “exemplary” means “serving as an example,instance, or illustration,” and should not be construed as preferred oradvantageous over other configurations disclosed herein.

As used herein, the terms “about” and “approximately”, when used inconjunction with ranges of dimensions of particles, compositions ofmixtures or other physical properties or characteristics, are meant tocover slight variations that may exist in the upper and lower limits ofthe ranges of dimensions so as to not exclude embodiments where onaverage most of the dimensions are satisfied but where statisticallydimensions may exist outside this region. It is not the intention toexclude embodiments such as these from the present disclosure.

As used herein, the terms “axial movement” and “axially”, when used todescribe movement of an object in conjunction with a defined axis, meanstranslation of that object along a vector substantially parallel to saiddefined axis.

As used herein, the terms “circumferential movement” and“circumferentially”, when used to describe the movement of an object inconjunction with a defined axis, means movement of said object whilemaintaining substantially the same distance from said defined axiswithout moving axially.

As used herein, the terms “radial movement” and “radially”, when used todescribe the movement of an object in conjunction with a defined axis,means translation of said object substantially without moving axiallyand substantially without moving circumferentially. The terms “inward”and “inwardly”, when used in conjunction with radial movement of anobject, mean radial movement such that over the course of such movement,the distance between said object and said defined axis decreases. Theterms “outward” and “outwardly”, when used in conjunction with radialmovement of an object, mean radial movement such that over the course ofsuch movement, the distance between said object and said defined axisincreases.

As used herein, the term “orthogonal”, “perpendicular”, and itsvariants, when used in conjunction with two geometrical entities, meansthat an angle between the two geometrical entities is about 90°.

As used herein, the phrase “motive source” means a source of mechanicalmotion (e.g. a motor) and devices (e.g. as screws, mechanisms, levers,etc.) to transform the mechanical motion into other forms of desiredmotion (e.g. rotation, translation, scissoring motion, or combinationsthereof).

Referring to FIGS. 1-4 as used herein, the direction denoted by theterms “forward”, “fore”, and “ahead” is along the axis A, and generallyaway from the motor 30, and towards an end of the tool holder 2 thataccepts and holds the tool tip 3. The direction denoted by the terms“back”, and “backwards” is along the axis A and away from an end of thetool holder 2 that accepts and holds the tool tip 3, and towards themotor 30. Similarly, the term “front” denotes an end of themultifunctional tool 1 that accepts and holds the tool tip 3 (shown inFIGS. 3 and 4) while the term “rear” denotes an end of themultifunctional tool 1 that is opposite to an end of the multifunctionaltool 1 that accepts and holds the tool tip 3.

The multifunctional tool 1 comprises a tool holder 2 (shown in FIGS. 1dand 2) and a tool tip 3 (shown in FIGS. 3 and 4). The tool holder 2 iscapable of holding and driving a variety of tool tips 3, each of whichmay provide a different function. The end of the tool tips 3 can bevariously adapted to provide a variety of functions. The tool holder 2comprises a motive source to power the tool tip 3, and a tool tiplocking mechanism to secure the tool tip 3 during operation. The lockingmechanism can be engaged to secure the tool tip 3 to the tool holder 2,or disengaged to allow for the insertion or removal of the tool tip 3.The multifunctional tool 1 may also have a selector mechanism. Thisselector mechanism can be engaged to allow the motive source to rotatethe entire tool tip 3 about axis A, in order to adjust the orientationof the tool tip 3 about axis A.

In a particular embodiment, multifunctional tool 1 is provided with atilter mechanism that allows for the rotation of the multifunctionaltool 1 about an axis B, which is perpendicular to the axis A (see FIGS.5 and 6). An exemplary tilter mechanism is shown in FIGS. 5 and 8. Inanother embodiment, positioning the multifunctional tool 1 in a certainorientation about axis B engages the selector mechanism, allowing themotive source to rotate the tool tip 3 about axis A. In any otherorientation about axis B, the motive source actuates the tool tip 3.

FIGS. 7a, 7b, 7c and 7d show various exploded views of the tiltermechanism, grapple fixture and associated brackets, clamps and housingsof each of these components. Specifically, FIG. 7a shows an explodedview of the multifunction tool showing how the various detail assembliesrelate to each other. FIG. 7b shows an exploded view of the structuralchassis assembly 330 which comprises an upper mounting plate 344, agrapple fixture 91, an electrical connector assembly 346 and anelectrical connector housing 348.

FIGS. 7c and 7d shows an exploded view of of the two halves of thetilter mechanism 340 forming part of the multifunction tool 1. Tiltermechanism 340 includes housings 21R and 21L having a cam receivinghousing section 324 for receiving therein cam 28, a bearing housingsection 325 for receiving a bearing 326 and bearing retainer 328. FIG.7c also shows shoe 22 and shoe mounting plate 22 a that are attached tolinear bearing 24 which runs on rail 24 a. The cam 28 controls themotion of the sliding sleeve 50 via the cam follower 25. The bearings326 permit the multifunction tool 1 to rotate smoothly within the tiltermechanism 340 and are retained in the bearing housing section 325 by thebearing retainers 328. The linear bearing 24 runs on rail 24 a to allowthe shoe 22 to move smoothly up and down to control the tilt of themultifunction tool 1. Shoe mounting plate 22 a structurally mounts theshoe 22 to the linear bearing 24.

FIG. 1 shows a cross sectional view of a multifunctional tool 1. FIGS.1a to 1e show different views, cross sections and an exploded view oftool 1. With reference to FIGS. 1 to 1 e, and FIG. 2, the tool tip 3comprises a tool tip rotor 36 and a tool tip stator 41, both of whichmay be disposed coaxial to an axis A. During operation of the tool tip3, the tool tip rotor 36 rotates about axis A while the tool tip stator41 remains substantially stationary with respect to a collet 40 on thetool holder 2. The rotor 36 is driven by the motive source and thestator 41 is held in place by the tool tip locker.

The tool tip rotor 36 is driven by a ball spline drive, which functionsas follows. A motor 30 drives a motor shaft 31, to which is keyed arotor driver 32. The motor shaft 31 and the rotor driver 32 are bothdisposed substantially coaxial to axis A, and rotate about axis A. Therotor driver 32 has an indentation 33 that engages a driving ballbearing 34. The driving ball bearing 34 in turn engages the side of arecess 35 on the tool tip rotor 36. Torque is transmitted from the motorshaft 31 to the rotor driver 32, and through the driving ball bearing34, to the tool tip rotor 36. The axial and circumferential movement ofthe driving ball bearing 34 is restricted by an appropriately sized hole38 in a driving ball bearing retainer 37. The recess 35 has anappropriate longitudinal slope such that the driving ball bearing 34 caneasily slide into the recess 35 as the tool tip 3 is inserted axiallyinto the tool holder 2.

A person skilled in the art will appreciate that the ball spline drivemay comprise a plurality of driving ball bearings 34 and a correspondingplurality of holes 38 in the driving ball bearing retainer 37, bothpluralities spaced substantially uniformly along the circumference ofthe tool holder 2, at substantially the same radial position. The tooltip rotor 36 of the tool tip 3 will then have a plurality of recesses 35spaced similarly around the circumference of the tool tip rotor 36 to beable to accept the plurality of driving ball bearings 34. In aparticular embodiment, the tool holder 2 is provided with six drivingball bearings 34 and six holes 38 in the driving ball bearing retainer37 spaced substantially uniformly around the circumference of the toolholder 2, and the tool tip 3 is provided with six corresponding recesses35.

A person skilled in the art will appreciate that the motor 30 may be aDC brushed motor, a DC brushless motor, an induction motor, or a steppermotor. There may also be a transmission placed between the motor 30 andthe motor shaft 31 that transmit torques from the motor 30 to the motorshaft 31. Such a transmission may include clutches, gearboxes, orgearheads. There may also be provided one or more sensors to detectvariables associated with the motor 30, such as angular position,angular velocity or angular acceleration. Such sensors may includeresolvers or encoders. In a preferred embodiment shown in FIGS. 6 and 8,the motor 30 is a DC brushless motor coupled to a planetary gearhead 100that transmits torque to the motor shaft 31, monitored by a resolver 101that measures the angular position of the motor shaft 31.

The tool tip stator 41 is held in place by the collet 40. The axialmovement of the collet 40 is restricted with respect to a tool housing70 by protrusions attached to the housing 70 that abut against distalends of the collet 40. The rotational movement of the collet 40 aboutaxis A with respect to the housing 70 can be selectively restricted, bya collet locker described later. The axial movement of the entire tooltip 3 with respect to the tool holder 2 can be restricted by a tool tiplocker, which functions as follows. The collet 40 has a hole 44 thatholds a locking ball bearing 43. The hole 44 is appropriately shapedsuch that it restricts the axial, circumferential, and inwardly radialmovement of the locking ball bearing 43. However, the hole 44 permitsoutwardly radial movement of the locking ball bearing 43. In its mostinwardly radial position (as permitted by the hole 44), the locking ballbearing 43 engages an indentation 45 on the tool stator 41. The lockingball bearing 43 is held in its most inwardly radial position, engaged tothe indentation 45, by an axially translatable spring-loaded lockingsleeve 42, which is biased forwards by a spring 46. The indentation 45is arranged such that when the locking ball bearing 43 is engagedtherein, translation along all axes of the locking ball bearing 43 withrespect to the tool stator 41 is restricted, thus locking the tool tip 3to the tool holder 2. The same locking mechanism, when engaged, alsorestricts the rotational movement about axis A of the tool rotor 41 withrespect to the collet 40 due to the ball bearing 43 in hole 44. A personskilled in the art will appreciate that the locking mechanism maycomprise a plurality of locking ball bearings 43 spaced substantiallyuniformly along the circumference of the multifunctional tool 1, inwhich case the collet 40 will have a corresponding number of similarlyspaced holes 44, and the tool tip stator 41 will have a plurality ofindentations 45. A person skilled in the art will also appreciate thatthe number of indentations 45 may be larger than the number of lockingball bearings 43. In a particular embodiment, there are six locking ballbearings 43 spaced uniformly along the circumference of themultifunctional tool 1, the collet 40 has six holes 44, and the tool tipstator 41 has twelve indentations 45. This allows for the tool tipstator 41 to be locked to the collet 40 in a number of discreterotational orientations. As such, the tool tip 3 can be in a variety oforientations when being inserted into the tool holder 2, and cantolerate variance in the orientation of the tool tip 3 during tool tipinsertion. A person skilled in the art will also appreciate that theremay be provided a plurality of springs 46 to bias the locking sleeve 42forward. In a particular embodiment, there are six springs 46. Thesesprings may be coil springs.

The working end of the tool tip rotor 36 may be variously adapted toperform a variety of functions. For example, it may comprise one of avariety of rotational bits such as drills, sockets, screwdrivers, etc.The tool tip 3 may be used to fasten and unfasten a variety ofrotational fasteners including slotted and Phillips screws, internal andexternal hex screws, ¼ turn fasteners. A particular embodiment shown inFIG. 11 comprises a hex socket 102 attached directly to the tool tiprotor 36. The embodiment in FIG. 11 also includes a clamp 103 attachedto the locking sleeve 42 for locally reacting torques produced by theaction of rotational bits such as the hex socket 102. The clamp 103grounds the multifunctional tool 1 to whatever object themultifunctional tool 1 is acting upon.

The tool tip 3 may be adapted to transform the rotational motion of thetool tip rotor 36 into other forms of motion. For example, the tool tip3 in FIGS. 1, 3 and 4 has been adapted to transform the rotationalmotion of the tool tip rotor 36 about axis A into linear motion of apushrod 10 by means of a screw assembly. The interior of the tool tiprotor 36 is hollow, and the inside surface of the tool tip rotor 36 isthreaded such that the thread engages a screw 11 on the pushrod 10. Asthe tool tip rotor 36 rotates, the screw mechanism 11 converts therotational motion of the tool tip rotor 36 into linear motion of thepushrod 10. The pushrod 10 may be further coupled to other mechanicaldevices for transforming the linear motion of the pushrod 10 into otherkinds of motions and performing a variety of mechanical actions, such ascutting, grasping, gripping, etc. In a set of embodiments, the pushrod10 is coupled to a lever tool. Such a lever tool may be, for example,pliers, scissors, cutters, grippers, or handlers.

FIG. 12 shows an embodiment of a tool tip 3 configured to transform theactuation of the motive source into both rotation and translation of thehex driver 123. The rate at which the hex key 123 advances or retractscan be tuned by modifying the pitch of the translating threads 124between the translating socket 122 and the stationary collar 121. Thepower may be transmitted from the socket drive 120 to the translatingsocket 122 by any number of means, e.g. spline, hex drive, square drive,sliding Woodruff key, etc.

FIGS. 1 and 3 shows an example of a tool tip 3 that has a lever tooladapted to cut wires. The tool tip 3 has been adapted to transform therotational motion of the tool tip rotor 36 into linear motion of thepush rod 10. The tool tip 3 in FIGS. 3 and 4 comprises a series ofmechanical linkages to transform the linear motion of the pushrod 10into a scissoring motion of two members 14 and 14′ about a pivot 15,which operates about an axis perpendicular to the axis A. The pivot 15may be implemented a pin that passes through the two members 14 and 14′,as well as a member that is affixed to the tool tip stator 41. As thepushrod 10 translates forwards, the mechanical linkages 12 and 12′rotate about the pivot 13, which rotates the members 14 and 14′ aboutthe pivot 15. The ends of the members 14 and 14′ may be variouslyadapted to perform a variety of functions. In the embodiment shown inFIG. 3, the ends of the members 14 and 14′ are serrated blades, adaptedfor cutting wires. In other applications, these may be replaced with anynumber of end tools that require a scissoring motion about a commonpivot such as wire cutters, grasping members, pliers, pincers, scissors,etc. The tool tip 3 may be used to perform any one of the followingtasks: cutting electrical wire, thermal blankets, lock wire, and metals;gripping; clamping; and operating buttons, thermal blankets, latches,and handles. The tool tip 3 may also be adapted to strip and dispose ofwire insulation, remove and dispose of fastener safety caps, applyadhesive tapes, suture thermal blankets together, or be used as a prybar. The tool tip 3 may be equipped with expanding jaws for prying apartmaterial, or be used as a nut splitter. FIG. 4 shows a tool tip 3wherein the ends of the members 14 and 14′ are flat and elongate, andadapted for grasping material. A particular embodiment has the ends ofthe members 14 and 14′ adapted to grasping thermal blankets.

Tool tips 3 that have a levering tool generally operate about an axisperpendicular to axis A, which is fixed with respect to the tool tipstator 41. In order to change the axis about which such tools operate,the tool tip 3 can be rotated about one or more of (i) axis A and (ii)axis B, which is substantially perpendicular to axis A as shown in FIGS.5 and 8.

To achieve rotation of the tool tip 3 about axis B, the entiremultifunctional tool 1 can be tilted about axis B using the followingmechanism, shown in FIG. 5. The multifunctional tool 1 is rotatablyattached to housing sections 21R and 21L using a pivot 27 disposedsubstantially coaxial to axis B. To the housing 21L is affixed a linearbearing 24. On the linear bearing 24 is provided a shoe 22, which istranslatably actuatable along the linear bearing 24. Such actuation isprovided by the rotation of a shaft 20 about its longitudinal axis. Asuitable transmission system can be provided within the shoe 22 thattransforms the rotational motion of the shaft 20 into linear motion ofthe shoe 22 along the linear bearing 24. Such transmission systems areknown in the art, and may include a worm gear engaged to arack-and-pinion assembly.

Suitable actuators may be used to drive the rotation of the shaft 20.Such actuators may include DC brushed motors, DC brushless motors, ACmotors or stepper motors. Such actuators may also include suitable atransmission to transmit torque from the motor to the shaft 20, andsuitable sensors to measure the angular position or velocity of therotational shaft 20. In a particular embodiment, such actuators comprisea DC brushless motor coupled to a gearbox, monitored by a resolver. Tothe shoe 22 is rotatably attached a yoke 23 using a pivot 29. The pivot29 allows rotation of the yoke 23 about an axis that is substantiallyparallel to axis B.

The yoke 23 is rotatably attached to a sliding sleeve 50 through a pivot26. The pivot 26 allows rotation of the yoke 23 with respect to thesliding sleeve 50 about an axis substantially parallel to axis B. Thesliding sleeve 50 is linearly translatable along the body of themultifunctional tool 1. Also rotatably attached to the yoke 23 about thepivot 26 is a cam follower 25, which can move along cams 28 affixed tothe housings 21R and 21L. Rotation of the shaft 20 causes the shoe 22 totranslate along the linear bearing 24. The movement of the shoe 22 urgesthe yoke 23 to rotate about the pivot 29, and move the cam follower 25along the cam 28. The cam 28 is shaped such that motion of the camfollower 25 along the cam 28 causes the sliding sleeve 50 to translatealong the body of the multifunctional tool 1. Since the yoke 23 isrotatably attached to both the shoe 22 at pivot 29 and to the slidingsleeve 50 at pivot 26, such motion results in the rotation of themultifunctional tool 1 about axis B. Note that such rotation results inthe re-orientation of axis A, which remains fixed to the motor 30.

Referring again to FIG. 1, the sliding sleeve 50 also is a part of acollet locker that locks and unlocks the collet 40 to a tool housing 70that is affixed to the motor 30. When the collet 40 is locked to thetool housing 70, the motor 30 drives the tool tip 3 as discussed above.When the collet 40 is unlocked from the tool housing 70, it is freelyrotatable with respect to the tool housing 70 and can be rotated aboutaxis A by the motive source in the following manner. The collet 40 isunlocked from the tool housing 70, and the motive source drives the tooltip rotor 36, as described above, until the lever tool reaches an extentof its movement and the pushrod 10 cannot be translated further forward.Thus, the tool tip rotor 36 is locked to the tool tip stator 41. Anyfurther actuation by the motive source results in rotation of the entiretool tip 3 about axis A, including the tool tip stator 41, as well asthe collet 40 (which may be engaged to the tool tip stator 41). Theselective locking of the collet 40 to the tool housing 70 is achievedusing a mechanism similar to the locking mechanism used to hold the tooltip stator 41 connected to the collet 40, as described above. The colletlocker works in the following manner. A collet-locking ball bearing 51,shown in FIGS. 1 and 2 has its axial, circumferential, and inwardlyradial movement restricted by a hole 54 in the tool housing 70. In itsmost inwardly radial position, the collet-locking ball bearing 51engages an indentation 52 in the collet 40, restricting the rotationalmovement about axis A of the collet 40 with respect to the tool housing70. When in a certain range of positions along the multifunctional tool1, the sliding sleeve 50 holds the collet bearing 51 in its mostinwardly radial position, engaged to the indentation 52, thus lockingthe collet 40 to the tool housing 70. Since each position of the slidingsleeve 50 along the multifunctional tool 1 corresponds to an angularposition of the multifunctional tool 1 about axis B, there is a certainrange of orientations of the multifunctional tool 1 about axis B inwhich the collet 40 is held substantially affixed to the tool housing70. When the multifunctional tool 1 is not within this certain range,the collet 40 is rotationally uncoupled (unlocked) from the tool housing70: a recess 53 in the sliding sleeve 50 allows the collet-locking ballbearing 51 to become disengaged from the indentation 52 in the collet40, allowing the collet 40 to rotate about axis A independent of thetool housing 70.

Thus, when the multifunctional tool 1 is in a certain position aboutaxis B, the motor 30 is capable of driving the rotation of the tool tipcollet 40 (and all other parts that are affixed to tool tip collet 40 atthat point in time, which may include the tool tip 3).

The tool tip 3 is insertable into and removable from the tool holder 2.The tool tip 3 is inserted into the tool holder 2 as follows. Thelocking sleeve 42 is translated backwards with respect to the tool tipcollet 40, creating a space 47. This may be performed by the robotic armpushing sleeve 42 against another object. As the tool tip 3 is insertedinto the tool holder 2, the tool tip stator 41 moves the locking ballbearing 43 into the space 47, and the sloped end of the recess 35 of thetool tip rotor 36 accepts the driving ball bearing 34. The axialmovement of the tool tip 3 is continued until the locking ball bearing43 is aligned with the indentation 45 in the tool tip stator 41. At thispoint in time, the locking sleeve 42 is allowed to translate axiallyforward through the action of the spring 46, thus engaging the lockingball bearing 43 into the indentation 45 (as described above) and lockingthe tool tip 3 to the tool tip collet 40.

The reverse process is carried out to remove the tool tip 3 from thetool holder 2. The locking sleeve 42 is translated axially backwards,creating a space 47. This may be performed by the robotic arm pushingsleeve 42 against another object. As the tool tip 3 is moved axiallyforwards, the tool tip stator 41 moves the locking ball bearing 43 intothis space 47, disengaging the locking ball bearing 43 from theindentation 45. This allows for the entire tool tip 3 to be removed fromthe tool holder 2 by moving it axially forwards.

A variety of means may be employed to insert and remove the tool tip 3from the tool holder 2. FIGS. 9 and 10 shows an example of a tool clip61 that includes structures to assist in the insertion and removal ofthe tool tip 3 from the tool holder 2, and also stores tool tips 3 whenthey are not engaged to the tool holder 2. To remove the tool tip 3, thetool tip 3 is slotted into the tool clip 61. As the tool tip 3 isslotted into the tool clip 61, a groove 60 on the tool tip stator 41engages a retainer 63 on the tool clip 61. The tool tip 3 is moved alongthe tool clip 61, and a spacer 62 engenders a separation between theretainer 63 (to which the tool tip 3 is engaged) and a push plate 64.This separation causes the push plate 64 to push against the lockingsleeve 42, pushing it backwards, and unlocking the tool tip 3 from thetool holder 2 as described above. As the multifunctional tool 1 istranslated axially away from the tool clip 61, the groove 60 on the tooltip 3 remains engaged to the retainer 63, holding the tool tip 3 in thetool clip 61 while the tool tip 3 slides out of the tool holder 2. Thetool clip 61 is provided with a spring tab 65 to grasp and hold the tooltip 3 securely in place. The tool tip 3 remains in the tool clip 61until it is required again.

The process of inserting a tool tip 3 being held by a tool clip 61 intothe tool holder 2 is as follows. The tool holder 2 approaches the tooltip 3 from the rear, and the tool tip 3 is slid into the tool holder 2.As the locking sleeve 42 contacts the push plate 64, the locking sleeve42 is translated axially backwards with respect to the tool tip collet40, opening up a space 47. The locking ball bearing 43 is moved intothat space 47 by the tool tip stator 41 as the tool tip 3 is slidfurther into the tool holder 2. The multifunctional tool 1 is movedalong the tool clip 61 and away from the spacer 62, and the separationbetween the retainer 63 and the push plate 64 decreases. This allows thelocking sleeve 42 to translate axially forwards with respect to the tooltip collet 40, locking the tool tip 3 in the tool holder 2 as describedabove.

In a particular embodiment, there is provided a tool caddy comprising aplurality of tool clips 61, each holding a distinct tool tip 3 arrangedin close proximity. The tool holder 2 may be connected to a robotic arm,and act as an end-effector for the robotic arm. The necessary movementof the tool holder 2 in order to insert or remove tool tips 3 may beachieved by actuating the robotic arm. In such an embodiment, therobotic arm would be able to pick up a tool tip 3 from a tool caddy byinserting it into the tool holder 2, perform a task with the tool tip 3,return the tool tip 3 to the caddy, and pick up one or more additionaltool tip 3 from the tool caddy in order to perform a second task. Such asystem would be highly advantageous since it would allow a singlerobotic arm with a single end-effector (i.e. the tool holder 2) and asingle drive system to perform a variety of tasks by using a appropriatetool tips 3.

FIG. 13 shows an alternative embodiment to the tool tip clip of FIGS. 9and 10. In this embodiment, the pusher plate 64 and the retainer 63 areintegrally formed to produce one piece. During insertion of the tool tip3, the tool tip 3 locks into a slot 66. Instead of the spacer 62 inFIGS. 9 and 10, the retainer 63 has a wedge shape that compresses thelocking sleeve 42 backwards. This embodiment also comprises a spring tab65 that holds and retains the tool tip 3. The steps required for theinsertion and removal of a tool tip 3 from this tool tip clip 61 are thesame as described above for the embodiment shown in FIGS. 9 and 10.

The multifunctional tool may also be provided with a vision system whichmay include one or more of imagers that capture a view of the operationsof the multifunctional tool 1. Such imagers may comprise video cameras,still cameras, and stereoscopic cameras. FIG. 7 shows a multifunctionaltool 1 outfitted with four video cameras 90 which constitute a visionsystem. It is noted the vision system may have more or less cameras thanfour (4) and may use alternatively, or additionally other types ofsensors to give the same information. The imagery captured by suchimagers may be transmitted to a human operator or to acomputer-controlled guidance-and-control system. The imagers may berigidly attached to the housings 21. In a particular embodiment, theimagers comprise four cameras mounted to the multifunctional tool 1using yoke 350.

FIG. 7a shows a partial exploded view of the assembly of FIG. 7 absentthe video cameras on the left hand side of the FIG. 7a . In thisembodiment, yoke 350 is used to support the cameras 90 and provide astable location to support the multipurpose tool 1 on the spacecraft 110via an interface socket 351.

FIG. 7b shows an exploded view of the structural chassis assembly 330which comprises upper mounting plate 344, a grapple fixture 91, anelectrical connector assembly 346, and an electrical connector housing348. The upper mounting plate 344 provides the structural chassis forthe tool 1 to which the grapple fixture 91 is bolted to allow structuralloads to be passed from the tool work site through the robotic arm 111to the servicing spacecraft or satellite 110. The electrical connectorassembly 346 holds the electrical and video connectors necessary to passsignals and data to and from the control system 425 in the spacecraft110 to the tool motor 30 and the cameras 90. The connectors are designedto permit robotic engagement to mating connectors on the end effector112. The electrical connector housing 348 provides a mechanical shieldfor the electrical connector assembly 346 and the wires the exit fromit.

One application of the multifunctional tool 1 is in the field of spacerobotics. In a particular embodiment, the multifunctional tool 1 isprovided with a mechanical and an electrical interface where a roboticarm may make a mechanical attachment and an electrical attachment,respectively. Such interfaces may be affixed to the upper mounting plate344. The mechanical interface 91 would allow the multifunctional tool 1to be releasably affixed to an end of a robotic arm, and the electricalinterface 346 would allow the multifunctional tool 1 to receive powerand control signals, and to output telemetry and video data. Suchmechanical interfaces are known in the art, and may comprise a graspablemember rigidly attached to the upper mounting plate 344, wherein an endof the robotic arm (end effector) 112 can grasp said graspable member.Electrical interfaces for use herein are also known in the art, and maycomprise a socket assembly 346 to which can be attached a correspondingplug at an end of the robotic arm. In a particular embodiment, themechanical and electrical interfaces are placed in close proximity,forming a combined electromechanical interface for attaching to anend-effector of a robotic arm. In another embodiment, such a robotic armis attached to a spacecraft, and is operable is space. FIG. 7 shows amultifunctional tool with a grapple fixture 91 that can be used by arobotic arm to grasp the multifunctional tool.

Thus, as depicted in FIG. 14, the multifunction tool disclosed hereinmay form part of a system for remote robotic servicing located on aspacecraft or satellite 110 which comprises a vision system, a roboticarm 111 having an end-effector 112, a multifunction tool 1 configured tobe releasably grasped by the end-effector 112. The multifunction tool 1comprising tool holder 2 is configured to releasably grasp a pluralityof tool tips 3, and the multifunction tool 1 includes a motive sourceconfigured to activate the tool tip 3 when the motive source isactivated.

Referring now to FIGS. 14 and 15, an example computing system forperforming the aforementioned methods is illustrated. The systemincludes a computer control system 425 configured, and programmed tocontrol movement of the robotic arm 111 and the motive source of themultifunction tool 1. Computer control system 425 is interfaced withvision system 90, and robotic arm 111. A communication system 113 isprovided which is interfaced with the robotic arm 111 and configured toallow remote operation (from the Earth 200 or from any other suitablelocation) of the vision system (which may include one or more cameras90), the robotic arm 111 and the multifunction tool 1. A system of thistype is very advantageous particularly for space based systems needingremote control. By providing a suite of tool tips 3 in a tool caddy 114that are configured to be activated by a single motive source on themultifunction tool 1 such that they do not need their own power sourcesprovides an enormous saving in weight which is a premium on everylaunch.

Some aspects of the present disclosure can be embodied, at least inpart, in software. That is, the techniques can be carried out in acomputer system or other data processing system in response to itsprocessor, such as a microprocessor, executing sequences of instructionscontained in a memory, such as ROM, volatile RAM, non-volatile memory,cache, magnetic and optical disks, or a remote storage device. Further,the instructions can be downloaded into a computing device over a datanetwork in a form of compiled and linked version. Alternatively, thelogic to perform the processes as discussed above could be implementedin additional computer and/or machine readable media, such as discretehardware components as large-scale integrated circuits (LSI's),application-specific integrated circuits (ASIC's), or firmware such aselectrically erasable programmable read-only memory (EEPROM's).

FIG. 15 provides an exemplary, non-limiting implementation of computercontrol system 425, which includes one or more processors 430 (forexample, a CPU/microprocessor), bus 402, memory 435, which may includerandom access memory (RAM) and/or read only memory (ROM), one or moreinternal storage devices 440 (e.g. a hard disk drive, compact disk driveor internal flash memory), a power supply 445, one more communicationsinterfaces 113, and various input/output devices and/or interfaces 455.

Although only one of each component is illustrated in FIG. 15, anynumber of each component can be included computer control system 425.For example, a computer typically contains a number of different datastorage media. Furthermore, although bus 402 is depicted as a singleconnection between all of the components, it will be appreciated thatthe bus 402 may represent one or more circuits, devices or communicationchannels which link two or more of the components. For example, inpersonal computers, bus 402 often includes or is a motherboard.

In one embodiment, computer control system 425 may be, or include, ageneral purpose computer or any other hardware equivalents configuredfor operation in space. Computer control system 425 may also beimplemented as one or more physical devices that are coupled toprocessor 430 through one of more communications channels or interfaces.For example, computer control system 425 can be implemented usingapplication specific integrated circuits (ASIC). Alternatively, computercontrol system 425 can be implemented as a combination of hardware andsoftware, where the software is loaded into the processor from thememory or over a network connection.

Computer control system 425 may be programmed with a set of instructionswhich when executed in the processor causes the system to perform one ormore methods described in the disclosure. Computer control system 425may include many more or less components than those shown.

While some embodiments have been described in the context of fullyfunctioning computers and computer systems, those skilled in the artwill appreciate that various embodiments are capable of beingdistributed as a program product in a variety of forms and are capableof being applied regardless of the particular type of machine orcomputer readable media used to actually effect the distribution.

A computer readable medium can be used to store software and data whichwhen executed by a data processing system causes the system to performvarious methods. The executable software and data can be stored invarious places including for example ROM, volatile RAM, non-volatilememory and/or cache. Portions of this software and/or data can be storedin any one of these storage devices. In general, a machine readablemedium includes any mechanism that provides (i.e., stores and/ortransmits) information in a form accessible by a machine (e.g., acomputer, network device, personal digital assistant, manufacturingtool, any device with a set of one or more processors, etc.).

Examples of computer-readable media include but are not limited torecordable and non-recordable type media such as volatile andnon-volatile memory devices, read only memory (ROM), random accessmemory (RAM), flash memory devices, floppy and other removable disks,magnetic disk storage media, optical storage media (e.g., compact discs(CDs), digital versatile disks (DVDs), etc.), among others. Theinstructions can be embodied in digital and analog communication linksfor electrical, optical, acoustical or other forms of propagatedsignals, such as carrier waves, infrared signals, digital signals, andthe like.

The present system is configured specifically to operate a plurality oftool tips all configured to be graspable by the multifunction tool. Inaddition to the tools illustrated in the Figures, the tool tips can bedesigned for any operation imaginable. A non-limiting and non-exhaustivelist of tool tips for servicing tasks for the present multifunction toolon a spacecraft include, but are not limited to, fastening andunfastening of rotating fasteners: slotted and Phillips screw, internaland external hex screw, ¼ turn fasteners, scissors or saws for cuttingof electrical wires, thermal blankets, lock wire, metal. Tool tips maybe included for handling/clamping such as thermal blanket handling,general gripping, and static clamping. Tool tips may be included formechanism operation: generic ground-type mechanisms such as buttons,latches, handles, manned EVA mechanisms via standard interfaces,electrical connector installation and removal. Tool tips may be includedwhich are configured for the removal of components: fastener safety capremoval and disposal, wire insulation stripping and disposal. Tool tipsmay be included which are configured for leverage operations such as prybar, expanding jaws, and a nut splitter to mention a few. Tool tips forany number of multiple miscellaneous operations may be included, forexample for application of fluids via hypodermic, compression ofsprings, application of adhesive tapes, suturing thermal blanketstogether.

The multifunction tool disclosed herein may be part of a larger systemfor refueling satellites in orbit and may be mounted on a dedicatedrefueling satellite launched directly from earth on which the refuelingapparatus including a tool caddy, robotic arm and various tool tips aremounted. Such a dedicated satellite may include a spacecraft dockingmechanism such as that disclosed in U.S. Pat. No. 6,969,030 issued Nov.29, 2005, which patent is incorporated herein in its entirety byreference. The apparatus may be retrofitted onto any suitable satelliteto be used as a servicer satellite for refueling. The refuelingsatellite with the refueling apparatus mounted thereon could be carriedon a larger “mother ship” and launched from there or stored on anorbiting space station and launched from there when needed. The systemmay be under teleoperation by a remotely located operator, for examplelocated on earth, in the “mother ship” or in an orbiting space station.The system may also be autonomously controlled by a local MissionManager with some levels of supervised autonomy so that in addition tobeing under pure teleoperation there may be mixedteleoperation/supervised autonomy.

The specific embodiments described above have been shown by way ofexample, and it should be understood that these embodiments may besusceptible to various modifications and alternative forms. It should befurther understood that the claims are not intended to be limited to theparticular forms disclosed, but rather to cover all modifications,equivalents, and alternatives falling within the spirit and scope ofthis disclosure.

We claim:
 1. A method for remote robotic servicing, comprising: a)launching a servicing spacecraft into an orbit to bring it into closeproximity to a client satellite to be serviced, the spacecraftcomprising propulsion, guidance and telemetry systems, a satellitecapture mechanism configured to releasably capture the client satelliteservicing satellite, a robotic arm having an end-effector, amultifunctional tool configured to be releasably grasped by saidend-effector, a suite of tool tips, said multifunctional tool configuredto releasably grasp each of said tool tips, said multifunctional toolincluding a motive source configured to activate said tool tip when themotive source is activated, a vision system configured to have a fieldof view containing a portion of the client satellite being releasablycaptured and at least a portion of the client satellite being servicedby the multifunctional tool, a computer control system programmed tocontrol movement of said robotic arm and said motive source of saidmultifunctional tool, and a communication system configured to allowremote operation of said vision system, said robotic arm and saidmultifunctional tool; b) maneuvering the satellite into location inclose proximity to the client satellite, deploying the satellite capturemechanism and releasably capturing the client satellite; c) deployingthe robotic arm and instructing the end-effector to releasably grasp themultifunctional tool, instructing the end-effector containing themultifunctional tool to releasably engage a tool tip with themultifunctional tool, d) engaging that portion of the client satelliteto be serviced with the multifunctional tool to service the clientsatellite; and e) wherein said communication system is configured tocommunicate with said computer control system for remote teleoperationcontrol or a mixture of teleoperator and supervised autonomy control ofapproach to, and capturing of, the client satellite, and all actionsassociated with servicing the client satellite using the roboticallycontrolled multifunctional tool.
 2. The method according to claim 1wherein each tool tip comprises; a) a tool tip stator, and b) a tool tiprotor rotatable about a first axis relative to said tool tip stator; andc) said multifunctional tool including a tool holder capable ofremovably engaging said tool tip, said tool holder comprising a collet,a tool tip locker. wherein when said tool holder engages said tool tip,i) said tool tip locker restricts rotational and axial movement aboutsaid first axis of said tool tip stator relative to said collet, and ii)said motive source is capable of rotating said tool tip rotor about saidfirst axis relative to said tool tip stator.